Control of Flexible Structures Governed by the Wave Equation Using Infinite Dimensional Transfer Functions

A method of noncollocated controller design for flexible structures, governed by the wave equation, is proposed. First an exact, infinite dimension, transfer function is derived and its properties are investigated. A key element in that part is the existence of time delays due to the wave motion. The controller design consists of two stages. The first one is an inner collocated rate loop. It is shown that there exists a controller that leads to a finite dimensional plus delay inner closed loop, which is the equivalent plant for the outer loop. In the second stage an outer noncollocated position loop is closed. It has the structure of an observer-predictor control scheme to compensate for the response delay. The resulting overall transfer function is second order, with arbitrarily assigned dynamics, plus delay.